sem/5g_drone_ROS2
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add json

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Sem van der Hoeven
2023-05-22 16:59:26 +02:00
parent 44a6dde339
commit 37dc3f093e
1 changed files with 9 additions and 12 deletions
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21
src/api_communication/api_communication/api_listener.py
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@@ -32,10 +32,13 @@ class ApiListener(Node):
self.last_battery_percentage = msg.battery_percentage self.last_battery_percentage = msg.battery_percentage
self.last_cpu_usage = msg.cpu_usage self.last_cpu_usage = msg.cpu_usage
def publish_message(self,message):
asyncio.run(self.websocket.send(message))
def publish_status(self): def publish_status(self):
if self.websocket is not None: if self.websocket is not None:
self.get_logger().info(f"Publishing status: battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}") self.get_logger().info(f"Publishing status: battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}")
asyncio.run(self.websocket.send(f"battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}")) self.publish_message(json.loads(f"battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}"))
def start_api_thread(self): def start_api_thread(self):
asyncio.run(self.handle_api()) asyncio.run(self.handle_api())
@@ -55,23 +58,17 @@ class ApiListener(Node):
self.message_queue.append(self.last_message) self.message_queue.append(self.last_message)
self.checking_for_message = False self.checking_for_message = False
# def handle_message(self, message):
# deserialized_msg = json.loads(message)
async def api_handler(self, websocket): async def api_handler(self, websocket):
self.get_logger().info('New connection')
if self.websocket is not None:
self.get_logger().error('Got a new websocket connection but I am already connected!')
return
self.websocket = websocket self.websocket = websocket
try: try:
async for message in websocket: async for message in websocket:
self.get_logger().info(f"Received message: {message}") self.get_logger().info(f"Received message: {message}")
await websocket.send(f"battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}") await websocket.send(f"battery: {self.last_battery_percentage}, cpu: {self.last_cpu_usage}")
# while True:
# if not self.checking_for_message:
# self.get_logger().info('Waiting for message')
# self.checking_for_message = True
# task = asyncio.create_task(self.handle_message_receive(websocket))
# task.add_done_callback(self.message_received_callback)
# if len(self.message_queue) > 0:
# websocket.send(self.message_queue.pop(0))
except websockets.exceptions.ConnectionClosed: except websockets.exceptions.ConnectionClosed:
self.get_logger().info('Connection closed') self.get_logger().info('Connection closed')